VELOCITY BASED CRAWL AND TROT GAIT ALGORITHMS FOR QUADRUPED ROBOTS

摘要：

A velocity based gait generation algorithm which is designed for steady walking is suggested. Particularly, we have developed a steady crawl and trot gait with duty factor 0.75 β= and 0.5 β= , respectively. The main features of the suggested algorithm are that it does not based on the foothold selection algorithm and the dynamic effects of walking are considered to generate gaits. The suggested gait generation algorithm has been implemented in a simple quadruped robot which has totally eight actuated joints on the legs. Using the PD controller for the trajectory following, the steady periodic crawl and trot gait on flat terrain has been demonstrated.

关键词： quadruped robot crawl trot

作者: Heeseon Hwang Youngil Youm

作者单位: Department of Mechanical Engineering,Pohang University of Science and Technology Pohang Institute of Intelligent Robotics

会议类型: 国际会议

会议名称: 2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-18（万方平台首次上网日期，不代表论文的发表时间）